Bicycle-inspired simple balance control method for quadruped robots in high-speed running
This paper explores the applicability of bicycle-inspired balance control in a quadruped robot model. Bicycles maintain stability and change direction by intuitively steering the handle, which induces yaw motion in the body frame and generates an inertial effect to support balance. Inspired by this...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2025-01-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2024.1473628/full |
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| _version_ | 1841558767048589312 |
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| author | Shoei Hattori Shoei Hattori Shoei Hattori Shoei Hattori Shura Suzuki Akira Fukuhara Takeshi Kano Akio Ishiguro |
| author_facet | Shoei Hattori Shoei Hattori Shoei Hattori Shoei Hattori Shura Suzuki Akira Fukuhara Takeshi Kano Akio Ishiguro |
| author_sort | Shoei Hattori |
| collection | DOAJ |
| description | This paper explores the applicability of bicycle-inspired balance control in a quadruped robot model. Bicycles maintain stability and change direction by intuitively steering the handle, which induces yaw motion in the body frame and generates an inertial effect to support balance. Inspired by this balancing strategy, we implemented a similar mechanism in a quadruped robot model, introducing a yaw trunk joint analogous to a bicycle’s steering handle. Simulation results demonstrate that the proposed model achieves stable high-speed locomotion with robustness against external disturbances and maneuverability that allows directional changes with only slight speed reduction. These findings suggest that utilizing centrifugal force plays a critical role in agile locomotion, aligning with the movement strategies of cursorial animals. This study underscores the potential of bicycle balance control as an effective and straightforward control approach for enhancing the agility and stability of quadruped robots as well as potentially offering insights into animal motor control mechanisms for agile locomotion. |
| format | Article |
| id | doaj-art-52dc51834e924d4cb2e5110ff65c8f56 |
| institution | Kabale University |
| issn | 2296-9144 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj-art-52dc51834e924d4cb2e5110ff65c8f562025-01-06T05:13:17ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442025-01-011110.3389/frobt.2024.14736281473628Bicycle-inspired simple balance control method for quadruped robots in high-speed runningShoei Hattori0Shoei Hattori1Shoei Hattori2Shoei Hattori3Shura Suzuki 4Akira Fukuhara 5Takeshi Kano 6Akio Ishiguro 7Division for Interdisciplinary Advanced Research and Education, Tohoku University, Sendai, JapanResearch Institute of Electrical Communication, Tohoku University, Sendai, JapanDepartment of Electrical Engineering, Tohoku University, Sendai, JapanJapan Society for the Promotion Science, Tokyo, JapanResearch Institute of Electrical Communication, Tohoku University, Sendai, JapanResearch Institute of Electrical Communication, Tohoku University, Sendai, JapanSchool of Systems Information Science, Future University Hakodate, Hakodate, JapanResearch Institute of Electrical Communication, Tohoku University, Sendai, JapanThis paper explores the applicability of bicycle-inspired balance control in a quadruped robot model. Bicycles maintain stability and change direction by intuitively steering the handle, which induces yaw motion in the body frame and generates an inertial effect to support balance. Inspired by this balancing strategy, we implemented a similar mechanism in a quadruped robot model, introducing a yaw trunk joint analogous to a bicycle’s steering handle. Simulation results demonstrate that the proposed model achieves stable high-speed locomotion with robustness against external disturbances and maneuverability that allows directional changes with only slight speed reduction. These findings suggest that utilizing centrifugal force plays a critical role in agile locomotion, aligning with the movement strategies of cursorial animals. This study underscores the potential of bicycle balance control as an effective and straightforward control approach for enhancing the agility and stability of quadruped robots as well as potentially offering insights into animal motor control mechanisms for agile locomotion.https://www.frontiersin.org/articles/10.3389/frobt.2024.1473628/fullquadruped robotmodel-free dynamic balance controlhigh-speed runninghigh-speed turningbicycle-inspired control |
| spellingShingle | Shoei Hattori Shoei Hattori Shoei Hattori Shoei Hattori Shura Suzuki Akira Fukuhara Takeshi Kano Akio Ishiguro Bicycle-inspired simple balance control method for quadruped robots in high-speed running Frontiers in Robotics and AI quadruped robot model-free dynamic balance control high-speed running high-speed turning bicycle-inspired control |
| title | Bicycle-inspired simple balance control method for quadruped robots in high-speed running |
| title_full | Bicycle-inspired simple balance control method for quadruped robots in high-speed running |
| title_fullStr | Bicycle-inspired simple balance control method for quadruped robots in high-speed running |
| title_full_unstemmed | Bicycle-inspired simple balance control method for quadruped robots in high-speed running |
| title_short | Bicycle-inspired simple balance control method for quadruped robots in high-speed running |
| title_sort | bicycle inspired simple balance control method for quadruped robots in high speed running |
| topic | quadruped robot model-free dynamic balance control high-speed running high-speed turning bicycle-inspired control |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2024.1473628/full |
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